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WO2014091858A1 - Détecteur d'espace de stationnement - Google Patents

Détecteur d'espace de stationnement Download PDF

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Publication number
WO2014091858A1
WO2014091858A1 PCT/JP2013/080620 JP2013080620W WO2014091858A1 WO 2014091858 A1 WO2014091858 A1 WO 2014091858A1 JP 2013080620 W JP2013080620 W JP 2013080620W WO 2014091858 A1 WO2014091858 A1 WO 2014091858A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
parking space
speed
detection
traveling
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2013/080620
Other languages
English (en)
Japanese (ja)
Inventor
岩見浩
横地聡子
原悠記
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Honda Motor Co Ltd
Original Assignee
Honda Motor Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Honda Motor Co Ltd filed Critical Honda Motor Co Ltd
Priority to CN201380064615.4A priority Critical patent/CN104837683A/zh
Priority to US14/650,652 priority patent/US9613533B2/en
Priority to DE112013005948.7T priority patent/DE112013005948T5/de
Priority to JP2014551937A priority patent/JP5909289B2/ja
Publication of WO2014091858A1 publication Critical patent/WO2014091858A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/168—Driving aids for parking, e.g. acoustic or visual feedback on parking space
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/06—Automatic manoeuvring for parking
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9314—Parking operations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9324—Alternative operation using ultrasonic waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details
    • G01S2013/93274—Sensor installation details on the side of the vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2015/932—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations
    • G01S2015/933—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations for measuring the dimensions of the parking space when driving past
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2015/937—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles sensor installation details
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/065—Traffic control systems for road vehicles by counting the vehicles in a section of the road or in a parking area, i.e. comparing incoming count with outgoing count
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
    • G08G1/141—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
    • G08G1/145—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas
    • G08G1/147—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas where the parking area is within an open public zone, e.g. city centre

Definitions

  • the present invention relates to a parking space detection device that detects a parking space by determining the presence or absence of a parking space in which the vehicle can park, for example, on a road where a parking space is provided on the curb side.
  • JP 2009-107529 A JP 2009-107529 A
  • a parking assistance device mounted on a vehicle and detecting a parking space has been proposed (see [0007] and [0007 of JP 2009-107529 A]. [0016]-.
  • a vehicle equipped with this parking assistance device has a first distance sensor on the left front side of the vehicle and a second distance sensor on the left rear side, and the presence area of the adjacent vehicle is determined based on the output of the first distance sensor. While identifying, a parking space shape is detected, the relative position and inclination of the detected parking space shape with respect to the vehicle are corrected based on the output information of the second distance sensor, and a parking space is defined. ing.
  • the own vehicle when the parking space is detected, the own vehicle can be parked between other vehicles parked before and after the longitudinal direction while the own vehicle is traveling. Depending on whether there is a space, it is determined that there is a parking space when there is a space, and that there is no parking space when there is no space.
  • ultrasonic sensors 104 and 106 having ultrasonic detection ranges 100 and 102 indicated by dot drawing ranges are the front portions of the vehicle 108. It is attached to the left and right of the bumper (front bumper).
  • the own vehicle 108 travels while operating the ultrasonic sensors 104 and 106 in the arrow direction, It is possible to detect the parking space 116 between the parked vehicles 110 and the parking space 118 between the parked vehicles 112 shown by the cross hatching drawing range, which is a space where the parked vehicles 110 and 112 are not detected for a predetermined distance.
  • ultrasonic sensors 124 and 126 provided with detection ranges 120 and 122 by ultrasonic waves are located on the left and right of the rear bumper (rear bumper) of the vehicle 128. It is attached.
  • the distance between the vehicle 128 and the left and right parked vehicles 132 is measured by the ultrasonic sensors 124 and 126. While parked in parallel with the middle of both parked vehicles 132.
  • the ultrasonic sensors 104 and 106 on the left and right are operated in the one-passage road 140 of one lane of a commercial area to travel while performing ordinary detection of the curb side parking space. Then, as a result, the parking space is occupied by the parking vehicle 112 and there is no parking space, and in the state as it is, the vehicle enters in the right turn direction indicated by the arrow and travels the general road on one side Consider the case.
  • the oncoming vehicle 136 which is misfed is erroneously detected as the parked vehicle 132, and as a result, the space 134 shown by the hatching drawing area which is the inter-vehicle distance between the oncoming vehicle 136 before and after continuously being misjudged is misj An (error) detection event occurs, and the driver is notified of erroneous information.
  • the present invention has been made in consideration of such problems, and it is possible to accurately determine whether the space in front of or behind the object in which the traveling vehicle is rubbing is a parking space (parkable area). It is an object of the present invention to provide a parking space detection device which makes it possible to detect a (true) parking space by making a decision.
  • the parking space detection device is a parking space detection device including a parking space presence determination unit that determines the presence or absence of a parking space of the own vehicle, wherein the parking space presence determination unit is the own vehicle while traveling It is characterized in that it is determined whether or not the object that is in a wrong state is stationary, and when it is determined that it is stationary, it is determined that there is a possibility that there is a parking space in at least one of the front and back of the object.
  • the parking space presence / absence determination unit determines whether or not an object rubbing against the vehicle in motion is stationary and determines that the object rubbing against is stationary, before and after the object. Since it is determined that there is a possibility that there is a parking space on at least one side, the moving and rubbing object, for example, the front and rear spaces of other vehicles traveling and the distance between oncoming vehicles traveling continuously are parked It is possible to avoid the determination (false determination) of false detection as space. Therefore, it is possible to accurately determine whether the space in front of or behind the object where the traveling vehicle is rubbing against is a parking space.
  • a relative velocity detection unit is further provided for detecting the relative velocity of the object rubbing against the traveling vehicle.
  • the parking space presence determination unit easily determines whether the object is stationary based on the relative speed detected by the relative speed detection unit and the own vehicle speed that is the traveling speed of the own vehicle. can do.
  • the vehicle speed may be a speed detected by a vehicle speed sensor provided in the vehicle, or one of the specified speeds when the vehicle is traveling at a specified speed by automatic traveling or the like. It may be speed.
  • the relative speed detection unit includes an object first detection sensor and an object second detection sensor which are disposed at predetermined intervals in the front-rear direction of at least one side portion of the vehicle.
  • the relative velocity can be obtained based on a time difference between detection of the object by the object first detection sensor and detection of the object by the object second detection sensor and the predetermined distance.
  • the relative velocity detection unit includes at least one radar, sonar or camera disposed in the vehicle so that the relative movement amount of the object per unit time, that is, the relative movement by each of the radar or the like. The speed can be detected.
  • the present invention it is determined whether or not an object that rubs against the traveling vehicle is stationary and it is determined that the vehicle is stationary, there is a possibility that there is a parking space in at least one of the front and back of the object. Since it is determined that there is a parking space, for example, other vehicles running while searching for a parkable section in the parking lot or an oncoming vehicle traveling on the road will not be erroneously detected as a parking space. It is avoided that the interval (distance between vehicles) between two other vehicles which run toward the own vehicle and continuously rub against each other is erroneously detected as a parking space.
  • the present invention it is possible to accurately determine whether the space in front of or behind the object where the traveling vehicle is rubbing against is a parking space.
  • FIG. 2 is a plan view schematically showing the relationship between a vehicle equipped with the parking space detection device shown in FIG. 1 and other vehicles. It is a flow chart provided for operation explanation of a parking space detection device concerning this embodiment. It is a schematic plan view provided for operation
  • FIG. 6 is a schematic plan view of a vehicle according to a comparative example in which ultrasonic sensors are attached to the left and right of the front bumper of the vehicle.
  • FIG. 6 is a schematic plan view of a vehicle according to a comparative example in which ultrasonic sensors are attached to the left and right of the rear bumper of the vehicle. It is explanatory drawing of the operation
  • FIG. 7 is a schematic plan view illustrating an event in which an inter-vehicle distance between oncoming vehicles is erroneously detected as a parking space by the vehicle of FIG. 6.
  • FIG. 1 shows a block diagram of a parking space detection apparatus 10 according to this embodiment
  • FIG. 2 shows the relationship between an own vehicle 12 and another vehicle 14 on which the parking space detection apparatus 10 shown in FIG. It is a top view shown typically.
  • the right front ultrasonic sensor 31, the right rear ultrasonic sensor 32, the left front ultrasonic sensor 41, and the left rear ultrasonic sensor 42 are mounted on the host vehicle 12;
  • the ultrasonic sensor 41 and the right front ultrasonic sensor 31 are disposed on the left and right sides (both sides) of the front bumper 51, and the left rear ultrasonic sensor 42, the right rear ultrasonic sensor 32, and the left and right rear bumper 52 It is distributed on both sides.
  • Each ultrasonic sensor 31, 32, 41, 42 outputs an object detection signal Sd (see FIG. 1) when detecting an object within the detection ranges 31d, 32d, 41d, 42d.
  • the arrangement interval between the right front ultrasonic sensor 31 and the right rear ultrasonic sensor 32, and the arrangement interval between the left front ultrasonic sensor 41 and the left rear ultrasonic sensor 42 are set to a known predetermined distance Dr. It is set.
  • the parking space detection device 10 has an ECU (Electronic Control Unit) 60 as a control device.
  • ECU Electronic Control Unit
  • the ECU 60 is used as a CPU (central processing unit), ROM (including EEPROM) as a memory, RAM (random access memory), other input / output devices such as an A / D converter and D / A converter, and a timer unit.
  • the CPU reads out and executes the program stored in the ROM to function as various function implementing units (function implementing means), such as a control unit, an arithmetic unit, and a processing unit.
  • the ECU 60 functions as part of the parking space presence determination unit 62 and the relative speed detection unit 64. These functions can also be realized by hardware.
  • the parking space presence / absence determination unit 62 in the parking space detection device 10 according to this embodiment shown in FIG. 1 is such that an object rubbing against the right side of the traveling direction of the vehicle 12 in so-called left traffic, It has a function to determine whether or not it is present. Therefore, the relative velocity detection unit 64 includes the right front ultrasonic sensor 31 as the object first detection sensor and the right rear ultrasonic sensor 32 as the object second detection sensor as components.
  • the relative speed detection unit 64 when it is determined whether the parking space presence / absence determination unit 62 is an object rubbing against the left side of the traveling direction of the own vehicle 12 in so-called right-hand traffic, for example, another vehicle is stationary, the relative speed detection unit 64 In addition, the left front ultrasonic sensor 41 as the object first detection sensor and the left rear ultrasonic sensor 42 as the object second detection sensor may be included as components.
  • the vehicle speed Vs detected by the vehicle speed sensor 66 and the relative speed Vrs of the other vehicle 14 detected by the relative speed detection unit 64 are extracted by the parking space presence determination unit 62.
  • the parking space determination unit 62 determines whether the other vehicle 14 is stationary based on the own vehicle speed Vs and the relative velocity Vrs, and the presence or absence of the parking space is determined by the interval between the stationary other vehicles 14. judge.
  • the parking space determination unit 62 determines that there is a parking space
  • the user driver or the like
  • the notification unit 68 including a display (display unit) or a speaker (sound output unit). To that effect (display, voice output, etc.).
  • the parking space detection apparatus 10 is basically configured as described above, and next, its operation will be described with reference to the flowchart of FIG. 3.
  • the parking space presence / absence determination unit 62 determines each of the traveling vehicle 12 in step S1.
  • the ultrasonic sensors 31, 32, 41, 42 are operated to detect an object such as the other vehicle 14 in the detection ranges 31d, 32d, 41d, 42d.
  • step S2 whether or not the parking space presence determination unit 62 detects an object such as another vehicle 14 depending on whether or not the object detection signal Sd is sent from each of the ultrasonic sensors 31, 32, 41, 42 Determine The object detection signal Sd from each of the ultrasonic sensors 31, 32, 41, 42 is also sent to the relative velocity detection unit 64.
  • the relative velocity detection unit 64 determines the relative velocity Vrs of the object such as the other vehicle 14 which is different in rubbing in step S3. Detect (calculate).
  • the relative velocity Vrs is the time when the front end of the other vehicle 14 is detected by the right front ultrasonic sensor 31 and then the other right rear ultrasonic sensor 32.
  • Vrs Dr / ⁇ S It is calculated.
  • step S4 the parking space presence determination unit 62 detects the current vehicle speed Vs by the vehicle speed sensor 66.
  • the vehicle speed Vs is the specified speed when the vehicle 12 is traveling at a specified speed when the vehicle 12 is an automatically travelable vehicle having an automatic acceleration function and an automatic braking function. It may be
  • step S5 the parking space presence / absence determination unit 62, which also functions as a stationary determination unit for an object that is misplaced, detects the own vehicle detected by the own vehicle speed sensor 66 from the relative speed Vrs detected by the relative speed detection unit 64.
  • the other vehicle speed Vas which is an absolute speed excluding the speed Vs, is calculated, and when the other vehicle speed Vas is not a zero value (a minute error may be expected) (Vas ⁇ 0), as an object which is misjudged
  • step S6 the normal parking space detection processing described with reference to FIG. 7 and the like is performed as an example.
  • the vehicle 12 travels forward on the traveling lane 70 in the arrow direction.
  • the space indicated by the hatching drawing range is the inter-vehicle distance DV between oncoming vehicles 14m and 14m traveling forward and backward, and a cross between parked vehicles 13p and 13p It is possible to determine that the space shown by the hatching drawing range is the parking space PS that can be parked, and erroneously detecting the inter-vehicle distance DV between oncoming vehicles 14m that travels back and forth continuously and rubs differently as the parking space. It is avoided.
  • the relative velocity detection unit 64 includes two ultrasonic sensors, the right front ultrasonic sensor 31 as the object first detection sensor and the right rear ultrasonic sensor 32 as the object second detection sensor. Although it is configured to include as an element, the present invention is not limited to this, as shown in FIG. 5, one relative speed detection unit 64A is disposed at the center of the front bumper 51 of the vehicle 12A or the center of the front grille. The configuration of the parking space detection device 10A can be substituted.
  • the detection range 71 indicated by the dot drawing range of the relative speed detection unit 64A is half the vehicle width of the vehicle 12A at the object detection distance Wr on the front of the vehicle 12A.
  • the distance obtained by adding the length is set as the detection radius.
  • the relative velocity detection unit 64A in FIG. 5 as is known, a radar (for example, scanning radar), a sonar (for example, scanning sona), or a camera (for example, a video camera equipped with a super wide-angle lens) etc.
  • the relative velocity Vrs of the object captured by the relative velocity detection unit 64A in the detection range 71 can be detected (calculated).
  • the parking space detection apparatus 10 which concerns on embodiment mentioned above is provided with the parking space presence determination part 62 which determines the presence or absence of parking space PS of the own vehicle 12, as shown to FIGS. 1-4.
  • the parking space determination unit 62 determines whether or not objects (parking vehicles 13p and 14p, other vehicles 14 and oncoming vehicles 14m) that are different from the vehicle 12 in motion are stationary and that they are stationary. When it is determined that there is a possibility that there is a parking space PS at least one of before and after the object.
  • a parking space PS is an object that moves and rubs, for example, an anteroposterior space of another traveling vehicle (the oncoming vehicle 14 m or a parallel running vehicle), and an inter-vehicle distance DV between oncoming vehicles 14 m that travels continuously. It is possible to avoid the determination (misjudgment) in which the false detection is made. Therefore, it is possible to accurately determine whether the space in front of or behind the object where the traveling vehicle 12 rubs against is the parking space PS.
  • the relative velocity detection unit 64 for detecting the relative velocity Vrs of the object rubbing against the traveling vehicle 12 is further added.
  • the parking space presence determination unit 62 determines whether the object is stationary based on the relative speed Vrs detected by the relative speed detection unit 64 and the own vehicle speed Vs which is the traveling speed of the own vehicle 12 Can easily be determined.
  • the vehicle speed Vs is either one of the speed detected by the vehicle speed sensor 66 provided in the vehicle 12 or the above-mentioned specified speed when the vehicle 12 is traveling at a specified speed due to automatic traveling or the like.
  • the right front end as an object first detection sensor disposed at an interval of a predetermined distance Dr in the front-rear direction of at least one side portion (right side or left side) of the vehicle 12
  • a sound sensor 31 and a right rear ultrasonic sensor 32 as an object second detection sensor are provided, and the right front ultrasonic sensor 31 detects the object (for example, the front end of the oncoming vehicle 14m on the upper side in FIG. 4)
  • the time difference ⁇ S the time difference ⁇ S between the detection of the same part of the object (the front end of the oncoming vehicle 14m on the upper side in FIG. 4) by the right rear ultrasonic sensor 32 is measured by a timer (time measurement part) in the ECU 60 can do.
  • the relative speed detection unit 64A includes the radar, the sonar or the camera disposed at least one in the host vehicle 12A, so that the host radar 12A is running while the host vehicle 12A is traveling.
  • the relative velocity Vrs of the object can be detected within the detection range 71 such as.
  • the parking space PS it is determined whether or not an object (parked vehicle 13p, oncoming vehicle 14m, etc.) rubbing against the own vehicle 12, 12A traveling while searching for the parking space PS is stationary.
  • the parking space PS there is a possibility that the parking space PS may be present in at least one of the front and back of the object (in this case, the parked vehicle 13p).
  • the space before and after the oncoming vehicle 14m traveling on the car 14 and the road 74 is not erroneously detected as the parking space PS, and the two vehicles traveling toward the traveling vehicles 12 and 12A and continuously rub against each other It is avoided that the distance between the oncoming vehicles 14m (inter-vehicle distance DV) which are other vehicles is erroneously detected as the parking space PS.
  • the present invention is not limited to the above-described embodiment, and it goes without saying that various configurations can be adopted based on the contents described in this specification.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Traffic Control Systems (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

L'invention porte sur un détecteur d'espace de stationnement (10), lequel détecteur est conçu de façon à ne pas détecter qu'une distance entre véhicules (DV) est un espace de stationnement (PS) par erreur, la distance entre véhicules (DV) étant la distance entre des véhicules approchants (14m) qui passent de façon continue. L'invention comporte une partie de détermination de présence d'espace de stationnement (62) pour déterminer si un espace de stationnement(PS) pour un véhicule (12, 12A) est présent ou non. La partie de détermination de présence d'espace de stationnement (62) est conçue de façon à déterminer si des véhicules approchants (14m) sont fixe ou non en fonction de la vitesse de véhicule (Vs) et de la vitesse relative (Vrs) des véhicules approchants (14m), de façon à empêcher ainsi l'espace (distance entre véhicules (DV)) entre deux autres véhicules approchants (14m) d'être détecté comme étant un espace de stationnement (PS) par erreur, les véhicules approchants étant des véhicules se déplaçant vers le véhicule (12, 12A) et passant de façon continue.
PCT/JP2013/080620 2012-12-12 2013-11-13 Détecteur d'espace de stationnement Ceased WO2014091858A1 (fr)

Priority Applications (4)

Application Number Priority Date Filing Date Title
CN201380064615.4A CN104837683A (zh) 2012-12-12 2013-11-13 驻车空间检测装置
US14/650,652 US9613533B2 (en) 2012-12-12 2013-11-13 Parking space detector
DE112013005948.7T DE112013005948T5 (de) 2012-12-12 2013-11-13 Parkplatzdetektor
JP2014551937A JP5909289B2 (ja) 2012-12-12 2013-11-13 駐車スペース検出装置

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2012271157 2012-12-12
JP2012-271157 2012-12-12

Publications (1)

Publication Number Publication Date
WO2014091858A1 true WO2014091858A1 (fr) 2014-06-19

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2013/080620 Ceased WO2014091858A1 (fr) 2012-12-12 2013-11-13 Détecteur d'espace de stationnement

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Country Link
US (1) US9613533B2 (fr)
JP (1) JP5909289B2 (fr)
CN (1) CN104837683A (fr)
DE (1) DE112013005948T5 (fr)
WO (1) WO2014091858A1 (fr)

Cited By (4)

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WO2016063533A1 (fr) * 2014-10-22 2016-04-28 株式会社デンソー Appareil embarqué de détermination d'objets
WO2016063532A1 (fr) * 2014-10-22 2016-04-28 株式会社デンソー Appareil de détermination d'objet dans un véhicule
JPWO2017017967A1 (ja) * 2015-07-29 2018-03-15 京セラ株式会社 検出装置、撮像装置、車両および検出方法
JP2023115057A (ja) * 2016-07-29 2023-08-18 パイオニア株式会社 測定装置、測定方法、及び、プログラム

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US8972175B2 (en) * 2013-03-14 2015-03-03 Qualcomm Incorporated Navigation using crowdsourcing data
US9631933B1 (en) 2014-05-23 2017-04-25 Google Inc. Specifying unavailable locations for autonomous vehicles
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